% clc 
% clear all
robot = importrobot("C:\Users\Admin\Desktop\biped_v2\xacro\leg_v2_serial_left.urdf")
% [conf,JointVel,JointAccel,t]=stepper([0.04 -1.57 -2;0.2 1.57 2],1,100)
robot.DataFormat='column';
robot.Gravity =[0 0 -9.81]
% show(robot)
% showdetails(robot)
q=zeros(5,1);
qd=zeros(5,1);
qdd=zeros(5,1);
joint_tau = inverseDynamics(robot,q,qd,qdd)
% joint_tau = inverseDynamics(robot)

